Dynamic characteristics analysis of a new variable stiffness robot joint

Abstract

In this paper, a new type of variable stiffness joint is proposed, which uses spring as elastic element, gear rack and special-shaped shell as stiffness adjusting mechanism, and is applied to industrial robot. The stiffness adjustment characteristics of variable stiffness joints are studied. The dynamic model of the joint system is established. The correctness of the dynamic model is verified by MATLAB/Simulink simulation experiment. The relationship between the stiffness of the variable stiffness joint and the rotation angle of the mechanism, the relationship between the stiffness of the joint and the angular velocity, the input response of the joint system in different states, and the torque state of the joint output are studied, which provides a theoretical basis for the research of the variable stiffness joint in the future.